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公开(公告)号：US07561141B2
公开(公告)日：2009-07-14
申请号：US10782939
申请日：2004-02-23
IPC分类号： G09G5/00
CPC分类号： A63F13/285 , A63F13/06 , A63F13/245 , A63F2300/1037 , A63F2300/1062 , A63F2300/8017 , G06F3/011 , G06F3/016 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/0362 , G06F19/00 , G06F2203/013 , G06F2203/014 , G06F2203/015
摘要： A haptic feedback control device, such as a handheld remote control or handheld game controller, for controlling a graphical object within a graphical display and for outputting forces to a user. A housing includes a button, wherein the user engages the button with a finger. The button is depressible along a degree of freedom by the user. An actuator applies forces to the user through the button along the degree of freedom. A sensor detects displacement of the button along the degree of freedom when the button is depressed by the user. A process, local to the device, controls the actuator to generate the forces upon the button in the degree of freedom to provide a tactile sensation to the user contacting the button.
摘要翻译： 触觉反馈控制装置，诸如手持式遥控器或手持式游戏控制器，用于控制图形显示器内的图形对象，并向用户输出力。 壳体包括按钮，其中用户用手指接合按钮。 该按钮在使用者的自由度下是可以压下的。 致动器沿着自由度通过按钮向用户施加力。 当用户按下按钮时，传感器检测按钮沿着自由度的位移。 在设备本地的过程控制致动器以在自由度上产生按钮上的力，以向与用户接触的按钮提供触觉。
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公开(公告)号：US06697044B2
公开(公告)日：2004-02-24
申请号：US09741310
申请日：2000-12-19
IPC分类号： G09G500
CPC分类号： A63F13/285 , A63F13/06 , A63F13/245 , A63F2300/1037 , A63F2300/1062 , A63F2300/8017 , G06F3/011 , G06F3/016 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/0362 , G06F19/00 , G06F2203/013 , G06F2203/014 , G06F2203/015
摘要： A haptic feedback control device, such as a handheld remote control or handheld game controller, for controlling a graphical object within a graphical display and for outputting forces to a user. A housing includes a button, wherein the user engages the button with a finger. The button is depressible along a degree of freedom by the user. An actuator applies forces to the user through the button along the degree of freedom. A sensor detects displacement of the button along the degree of freedom when the button is depressed by the user. A processor, local to the device, controls the actuator to generate the forces upon the button in the degree of freedom to provide a tactile sensation to the user contacting the button.
摘要翻译： 触觉反馈控制装置，诸如手持式遥控器或手持式游戏控制器，用于控制图形显示器内的图形对象，并向用户输出力。 壳体包括按钮，其中用户用手指接合按钮。 该按钮在使用者的自由度下是可以压下的。 致动器沿着自由度通过按钮向用户施加力。 当用户按下按钮时，传感器检测按钮沿着自由度的位移。 处理器在本地设备上，控制致动器以在自由度上产生按钮上的力，以向与用户接触的按钮提供触觉。
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公开(公告)号：US06184868B2
公开(公告)日：2001-02-06
申请号：US09156802
申请日：1998-09-17
IPC分类号： G09G508
CPC分类号： A63F13/285 , A63F13/06 , A63F13/245 , A63F2300/1037 , A63F2300/1062 , A63F2300/8017 , G06F3/011 , G06F3/016 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/0362 , G06F19/00 , G06F2203/013 , G06F2203/014 , G06F2203/015
摘要： Haptic feedback control devices of the present invention include several embodiments. One embodiment includes a housing and a pair of moveable pincher members coupled to the housing. Each pincher member is contacted by a finger of the user when the device is operated and moveable in a degree of freedom approximately within a single plane. An actuator outputs force feedback on the pincher members and a sensor detects a position of the pincher members in the degrees of freedom. The device housing can include a fixed portion and a moveable portion, where the user contacts both fixed and moveable portions. A coupling, such as a flexure, allows the moveable portion to move relative to the fixed portion in a direction parallel to an outer surface of the moveable portion contacted by the user. An actuator outputs a force on the flexure to cause the moveable portion to move, such as an oscillating force to cause vibration. These improvements allow a user to feel force feedback and tactile feedback when operating the device. Applications include telemanipulator devices as well as interface devices and game controllers for computers.
摘要翻译： 本发明的触觉反馈控制装置包括几个实施例。 一个实施例包括壳体和联接到壳体的一对可移动的夹持器构件。 当装置被操作时，每个捏合构件被使用者的手指接触，大约在单个平面内可自由移动。 致动器对夹持器构件输出力反馈，并且传感器以自由度检测捏合器构件的位置。 装置壳体可以包括固定部分和可移动部分，其中使用者接触固定部分和可移动部分。 诸如挠曲的联接件允许可移动部分在平行于与使用者接触的可移动部分的外表面的方向上相对于固定部分移动。 致动器在挠曲件上输出力以使可移动部分移动，例如振动力引起振动。 这些改进允许用户在操作设备时感受力反馈和触觉反馈。 应用包括远程操纵器设备以及计算机的接口设备和游戏控制器。
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4.发明授权Absolute position sensing by phase shift detection using a variable capacitor 有权通过使用可变电容器进行相移检测的绝对位置检测公开(公告)号：US06304091B1
公开(公告)日：2001-10-16
申请号：US09248177
申请日：1999-02-09
IPC分类号： G01R2726
CPC分类号： G01D5/2412
摘要： A low-cost, high-resolution capacitive position sensor is provided using a variable capacitor. A vane moves parallel to a stator, where a dielectric is interposed between vane and stator, such that the vane overlaps at least a portion of the stator, creating a capacitance that varies as the vane moves relative to the fixed stator. The capacitor circuit outputs a signal having a phase shift relative to an input driver signal based on the relative positions of the vane and stator. The phase-shifted signal is used to derive the absolute position of the vane with respect to the stator. Two or more stator can be provided to provide two phase-shifted signals and a difference signal free of common mode effects. Enhanced embodiments include interdigitated stator portions for greater sensing resolution, and/or a two or three-pole filter to double or triple the dynamic range of the sensor.
摘要翻译： 使用可变电容器提供了低成本，高分辨率的电容式位置传感器。 叶片平行于定子移动，其中电介质插入在叶片和定子之间，使得叶片与定子的至少一部分重叠，产生随着叶片相对于固定定子移动而变化的电容。 电容器电路基于叶片和定子的相对位置输出相对于输入驱动器信号的相移的信号。 相移信号用于导出叶片相对于定子的绝对位置。 可以提供两个或更多个定子以提供两个相移信号和不具有共模效应的差分信号。 增强的实施例包括用于更大的感测分辨率的交叉指定的定子部分和/或将传感器的动态范围加倍或三倍的两极或三极滤波器。
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公开(公告)号：US5999168A
公开(公告)日：1999-12-07
申请号：US804535
申请日：1997-02-21
CPC分类号： G06F3/016 , A63F13/06 , G05G9/047 , G06F3/0383 , A63F13/211 , A63F13/285 , A63F2300/1025 , A63F2300/1037 , G05G2009/04766 , G05G2009/04777 , G06F2203/015 , H01H2003/008
摘要： A force feedback interface including a haptic accelerator that relieves the computational burden associated with force feedback generation from a force feedback processor. The force feedback processor is preferably a device microprocessor included in the interface device and separate from a controlling host computer for determining forces to be output. The haptic accelerator quickly determines velocity and/or acceleration information describing motion of a user manipulatable object from raw position data received from sensors of the interface device and representing the position of the user object. The velocity and/or acceleration data is used by the force feedback processor in the determination of forces to be output on the user object. The haptic accelerator can in some embodiments also quickly and reliably determine condition forces which depend on the motion of the user object, thus relieving additional computation burden from the force feedback processor and permitting the force feedback processor to focus on determining other types of forces and overseeing the operation of the force feedback interface device.
摘要翻译： 一种力反馈界面，包括一个抵消力反馈处理器产生力反馈相关的计算负担的触觉加速器。 力反馈处理器优选地是包括在接口设备中的设备微处理器，并且与控制主计算机分离以确定要输出的力。 触觉加速器快速地确定速度和/或加速度信息，其描述从接口装置的传感器接收的并且表示用户对象的位置的原始位置数据中的用户可操纵对象的运动。 力反馈处理器使用速度和/或加速度数据来确定在用户物体上输出的力。 在一些实施例中，触觉加速器还可以快速且可靠地确定取决于用户对象的运动的状态力，从而减轻来自力反馈处理器的额外计算负担，并允许力反馈处理器专注于确定其他类型的力并监督 力反馈接口设备的操作。
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公开(公告)号：US06342880B2
公开(公告)日：2002-01-29
申请号：US09414294
申请日：1999-10-06
IPC分类号： G09G508
CPC分类号： G06F3/016 , A63F13/06 , A63F13/211 , A63F13/285 , A63F2300/1025 , A63F2300/1037 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F3/0383 , G06F19/00 , G06F2203/015 , H01H2003/008
摘要： A force feedback interface including a haptic accelerator that relieves the computational burden associated with force feedback generation from a force feedback processor. The force feedback processor is preferably a device microprocessor included in the interface device and separate from a controlling host computer for determining forces to be output. The haptic accelerator quickly determines velocity and/or acceleration information describing motion of a user manipulatable object from raw position data received from sensors of the interface device and representing the position of the user object. The velocity and/or acceleration data is used by the force feedback processor in the determination of forces to be output on the user object. The haptic accelerator can in some embodiments also quickly and reliably determine condition forces which depend on the motion of the user object, thus relieving additional computation burden from the force feedback processor and permitting the force feedback processor to focus on determining other types of forces and overseeing the operation of the force feedback interface device.
摘要翻译： 一种力反馈界面，包括一个抵消力反馈处理器产生力反馈相关的计算负担的触觉加速器。 力反馈处理器优选地是包括在接口设备中的设备微处理器，并且与控制主计算机分离以确定要输出的力。 触觉加速器快速地确定速度和/或加速度信息，其描述从接口装置的传感器接收的并且表示用户对象的位置的原始位置数据中的用户可操纵对象的运动。 力反馈处理器使用速度和/或加速度数据来确定在用户物体上输出的力。 在一些实施例中，触觉加速器还可以快速且可靠地确定取决于用户对象的运动的状态力，从而减轻来自力反馈处理器的额外计算负担，并允许力反馈处理器专注于确定其他类型的力并监督 力反馈接口设备的操作。
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公开(公告)号：US08830224B2
公开(公告)日：2014-09-09
申请号：US12465020
申请日：2009-05-13
申请人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Christopher J. Hasser , Brian E. Miller , Catherine J. Mohr , Myrian J. Curet , Tao Zhao , Simon Di Maio , Brian D. Hoffman
发明人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Christopher J. Hasser , Brian E. Miller , Catherine J. Mohr , Myrian J. Curet , Tao Zhao , Simon Di Maio , Brian D. Hoffman
CPC分类号： A61B34/25 , A61B34/20 , A61B2034/2057 , A61B2034/2065 , A61B2090/371 , A61B2090/373 , G06T7/593 , G06T11/00 , G06T2207/10068 , G06T2207/20096 , G06T2207/20101 , G06T2207/30004 , H04N13/10 , H04N13/20 , H04N13/30 , H04N2013/0092
摘要： An apparatus is configured to show telestration in 3-D to a surgeon in real time. A proctor is shown one side of a stereo image pair, such that the proctor can draw a telestration line on the one side with an input device. Points of interest are identified for matching to the other side of the stereo image pair. In response to the identified points of interest, regions and features are identified and used to match the points of interest to the other side. Regions can be used to match the points of interest. Features of the first image can be matched to the second image and used to match the points of interest to the second image, for example when the confidence scores for the regions are below a threshold value. Constraints can be used to evaluate the matched points of interest, for example by excluding bad points.
摘要翻译： 一种装置被配置为实时地向外科医生示出3-D的远程化。 监视器被显示为立体图像对的一侧，使得监视器可以在一侧用输入装置绘制远距离信号线。 识别兴趣点以匹配立体图像对的另一侧。 响应于所识别的兴趣点，区域和特征被识别并用于将感兴趣点与另一侧匹配。 区域可用于匹配兴趣点。 第一图像的特征可以匹配第二图像，并且用于将感兴趣的点与第二图像匹配，例如当区域的置信度得分低于阈值时。 限制可用于评估匹配的兴趣点，例如排除不良点。
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公开(公告)号：US08463439B2
公开(公告)日：2013-06-11
申请号：US12415795
申请日：2009-03-31
CPC分类号： A61B34/20 , A61B18/00 , A61B34/30 , A61B2017/00477 , A61B2034/2061 , A61B2034/305 , A61B2090/064 , A61B2562/0266 , G01B11/16 , G01L1/242 , G02B6/12019 , G02B6/264 , G02B6/32 , Y10T74/20335
摘要： In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer. A fiber optic connector is operably coupled to the fiber optic splitter or the AWG multiplexer. A wrist joint is operably coupled to a distal end of the force transducer, and an end effector is operably coupled to the wrist joint. In another embodiment, a robotic surgical manipulator includes a base link operably coupled to a distal end of a manipulator positioning system, and a distal link movably coupled to the base link, wherein the distal link includes an instrument interface and a fiber optic connector optically linkable to a surgical instrument. A method of passing data between an instrument and a manipulator via optical connectors is also provided.
摘要翻译： 在一个实施例中，手术器械包括可与机器人手术系统的操纵臂连接的壳体，可操作地联接到壳体的轴，在轴的远端上的力传感器，以及多个光纤应变计 力传感器。 在一个示例中，多个应变计可操作地耦合到光纤分离器或阵列波导光栅（AWG）多路复用器。 光纤连接器可操作地耦合到光纤分离器或AWG多路复用器。 腕关节可操作地联接到力传感器的远端，并且端部执行器可操作地联接到腕关节。 在另一个实施例中，机器人外科手术操纵器包括可操作地联接到操纵器定位系统的远端的基部连杆和可移动地联接到基部连杆的远端连杆，其中远端连杆包括仪器接口和可光学连接的光纤连接 到手术器械。 还提供了通过光学连接器在仪器和操纵器之间传递数据的方法。
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9.发明授权Augmented stereoscopic visualization for a surgical robot using a captured fluorescence image and captured stereoscopic visible images 有权使用捕获的荧光图像和捕获的立体可见图像的外科机器人的增强的立体可视化公开(公告)号：US08228368B2
公开(公告)日：2012-07-24
申请号：US12164976
申请日：2008-06-30
申请人： Wenyi Zhao , Catherine J. Mohr , Christopher J. Hasser , Brian D. Hoffman , John D. Stern , Tao Zhao
发明人： Wenyi Zhao , Catherine J. Mohr , Christopher J. Hasser , Brian D. Hoffman , John D. Stern , Tao Zhao
IPC分类号： H04N13/00
CPC分类号： A61B1/043 , A61B1/00009 , A61B1/0005 , A61B1/00149 , A61B1/00186 , A61B1/00193 , A61B1/05 , A61B1/063 , A61B1/0638 , A61B1/313 , A61B5/0071 , A61B5/0075 , A61B5/0084 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/361 , A61B2034/301 , A61B2090/364 , G01N21/6456 , H04N13/0239 , H04N13/207 , H04N13/239
摘要： An illumination channel, a stereoscopic optical channel and another optical channel are held and positioned by a robotic surgical system. A first capture unit captures a stereoscopic visible image from the first light from the stereoscopic optical channel while a second capture unit captures a fluorescence image from the second light from the other optical channel. An intelligent image processing system receives the captured stereoscopic visible image and the captured fluorescence image and generates a stereoscopic pair of fluorescence images. An augmented stereoscopic display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of the stereoscopic visible image and the stereoscopic pair of fluorescence images.
摘要翻译： 照明通道，立体光学通道和另一个光学通道由机器人手术系统保持和定位。 第一捕获单元从来自立体光学信道的第一光捕获立体可视图像，而第二捕获单元从来自另一光信道的第二光捕获荧光图像。 智能图像处理系统接收捕获的立体可视图像和捕获的荧光图像并产生立体对的荧光图像。 增强立体显示系统输出包括立体可视图像和立体视觉对荧光图像的混合的三维呈现的实时立体图像。
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公开(公告)号：US20100318099A1
公开(公告)日：2010-12-16
申请号：US12485545
申请日：2009-06-16
申请人： BRANDON D. ITKOWITZ , Tao Zhao , Simon Dimaio , Wenyi Zhao , Christopher J. Hasser , Myriam J. Curet , Catherine J. Mohr , Hubert Stein
发明人： BRANDON D. ITKOWITZ , Tao Zhao , Simon Dimaio , Wenyi Zhao , Christopher J. Hasser , Myriam J. Curet , Catherine J. Mohr , Hubert Stein
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B5/1072 , A61B8/4209 , A61B8/483 , A61B17/00234 , A61B17/282 , A61B18/1482 , A61B34/25 , A61B34/30 , A61B2017/00477 , A61B2034/105 , A61B2090/061
摘要： Robotic and/or measurement devices, systems, and methods for telesurgical and other applications employ input devices operatively coupled to tools so as to allow a system user to manipulate tissues and other structures being measured. The system may make use of three dimensional position information from stereoscopic images. Two or more discrete points can be designated in three dimensions so as to provide a cumulative length along a straight or curving structure, an area measurement, a volume measurement, or the like. The discrete points may be identified by a single surgical tool or by distances separating two or more surgical tools, with the user optionally measuring a structure longer than a field of view of the stereoscopic image capture device by walking a pair of tools “hand-over-hand” along the structure. By allowing the system user to interact with the tissues while designating the tissue locations, and by employing imaging data to determine the measurements, the measurement accuracy and ease of measurement may be enhanced.
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